Techniques for determining a location of a vehicle in an environment using sensors and determining calibration information associated with the sensors are discussed herein. A vehicle can use map data to traverse an environment. The map data can include semantic map objects such as traffic lights, lane markings, etc. The vehicle can use a sensor, such as an image sensor, to capture sensor data. Semantic map objects can be projected into the sensor data and matched with object(s) in the sensor data. Such semantic objects can be represented as a center point and covariance data. A distance or likelihood associated with the projected semantic map object and the sensed object can be optimized to determine a location of the vehicle. Sensed objects can be determined to be the same based on matching with the semantic map object. Epipolar geometry can be used to determine if sensors are capturing consistent data.